Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 164 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 164 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 23 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 10 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 20 PITCH_MIN 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 10

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 164 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 23 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 14 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 8 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 140218,181424,-7431.3477,-11231.7012,0,4134.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 397.46 MHEAD_RNG_PITCHd_Wd 309.6,37738,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 3.0 D_GRID 990

GPS2 140218,181424,-7431.3477,-11231.7012,0,4134.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 396.0,1.027471,1 _24V_AH 13.00,71.700

FINISH2 394.9 _10V_AH 12.46,0.000

RAFOS_CLK 395 FG_AHR_24Vo 0.000

RAFOS 0,1518642062,21.032778,21.017221,126,64,62,61,57,56,635,195,136,212,166,152 FG_AHR_10Vo 0.000

RAFOS_FIX -7429.562500,-11232.689453,140218,212144,3,135,0.31 MEM 280052

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 30124,919

TT8_MAMPS 0.041944,0.223951 CAP_FILE_SIZE 115098,0

HUMID 48.26 CFSIZE 1024409600,1001046016

INTERNAL_PRESSURE 7.61906 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.80 INTR 0,2346.22,0x234cd8,0,24

XPDR_PINGS 0 SOUNDSPEED 1459.0

ALTIM_TOP_PING 397.2,8.2 GPS 140218,211544,-7429.562,-11232.689,0,4135.3,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 259 14.75 nil 0 0 0.00

Roll_motor 91 260 310.55 nil 0 0 0.00

VBD_pump_during_apogee 1036 1256 16942.57 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 10973 5 853.47

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 42 420 232.05 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8000 2 230.26

TT8_Active 1027 12 157.16

TT8_Sampling 1914 31 757.31

TT8_CF8 97 45 54.94

TT8_Kalman 0 0 0.00

Analog_circuits 1796 10 228.30

GPS_charging 0 0 0.00

Compass 1315 7 122.80

RAFOS 720 1 13.46

Transponder 304 30 113.89

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

404.4 12.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

410.8 18.80 9000.00 0.0 0.00 0.00 18.80 0.0 1.02 1.00

417.6 26.10 26.00 0.0 1.05 1.00 26.10 0.0 1.07 1.00

992.2 24.60 9000.00 0.0 0.00 0.11 24.60 1016.8 -0.00 1.00

985.9 30.50 9000.00 0.0 0.00 0.07 30.50 0.0 -0.94 1.00

979.7 16.30 9000.00 0.0 0.66 0.34 16.30 963.4 2.29 1.00

967.1 19.00 9000.00 0.0 0.49 0.39 19.00 0.0 -0.21 1.00

954.6 26.00 9000.00 0.0 -0.39 0.94 26.00 0.0 -0.56 1.00

948.3 19.80 9000.00 0.0 -0.11 0.08 19.80 928.5 0.98 1.00

502.7 141.20 9000.00 0.0 -0.26 1.00 141.20 0.0 -0.27 1.00

435.8 48.50 9000.00 0.0 -0.13 0.35 48.50 387.3 1.39 1.00

428.6 41.40 9000.00 0.0 1.36 1.00 41.40 387.2 0.99 1.00

416.3 29.20 29.20 387.1 0.99 1.00 29.20 387.1 0.99 1.00

410.2 22.50 22.60 387.6 1.02 1.00 22.50 387.7 1.10 1.00

403.2 14.60 14.60 388.6 1.12 1.00 14.60 388.6 1.13 1.00

397.2 8.30 8.20 389.0 1.09 1.00 8.30 388.9 1.05 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.88 -146.0 2702 2499 2837 2616 0.0 0.0 0 11 0.00 0.00 -1.90 0.049 16390 0.000 0.000 2701 2499 3334 3470 3198 0 0 0 0 0 0 15.07 13.38 15.06

13 -0.88 -146.0 2701 2500 3470 3196 0.0 0.0 0 19 0.88 2.53 0.00 0.000 4612 0.120 0.115 2416 1090 3332 3466 3199 0 0 0 0 0 0 14.76 14.73 14.84

48 -0.88 -146.0 2417 1089 3461 3205 400.2 -8.0 7 56 0.00 2.67 0.00 0.000 1030 0.000 0.126 2408 2502 3333 3460 3206 0 0 0 0 0 0 14.81 14.69 14.86

354 -0.88 -146.0 2408 2502 3453 3212 433.1 -11.0 38 359 0.00 2.42 0.00 0.000 260 0.000 0.155 2399 3751 3332 3452 3212 0 0 0 0 0 0 15.10 14.66 15.13

429 -0.88 -146.0 2399 3752 3450 3215 442.3 -12.1 53 436 0.00 2.28 0.00 0.000 1030 0.000 0.098 2398 2492 3331 3449 3214 0 0 0 0 0 0 14.85 14.77 14.89

733 -0.88 -146.0 2399 2493 3450 3215 477.1 -11.2 84 734 0.00 0.00 0.00 0.000 6 0.000 0.000 2399 2493 3332 3449 3215 0 0 0 0 0 0 15.09 15.14 15.11

1033 -0.88 -146.0 2399 2493 3450 3214 510.0 -10.9 114 1039 0.00 2.45 0.00 0.000 260 0.000 0.155 2389 3754 3331 3448 3214 0 0 0 0 0 0 15.09 14.65 15.11

1088 -0.88 -146.0 2389 3755 3446 3217 516.4 -11.2 125 1096 0.00 2.28 0.00 0.000 1030 0.000 0.099 2389 2499 3331 3446 3216 0 0 0 0 0 0 14.83 14.76 14.88

1393 -0.88 -146.0 2389 2499 3447 3216 551.2 -11.3 156 1401 0.00 2.45 0.00 0.000 260 0.000 0.158 2380 3753 3331 3445 3217 0 0 0 0 0 0 15.09 14.64 15.11

1440 -0.88 -146.0 2380 3753 3446 3216 556.8 -12.3 165 1448 0.12 2.28 0.00 0.000 3078 0.257 0.098 2414 2498 3333 3445 3221 0 0 0 0 0 0 14.55 14.76 14.72

1745 -0.88 -146.0 2414 2499 3446 3218 587.6 -10.1 196 1745 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2498 3331 3445 3217 0 0 0 0 0 0 15.10 15.13 15.12

2046 -0.88 -146.0 2413 2499 3445 3218 617.2 -9.7 226 2047 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 2498 3330 3444 3217 0 0 0 0 0 0 15.06 15.09 15.09

2345 -0.88 -146.0 2415 2498 3446 3217 646.4 -9.7 256 2353 0.00 2.42 0.00 0.000 260 0.000 0.157 2405 3753 3330 3444 3217 0 0 0 0 0 0 15.11 14.65 15.14

2402 -0.88 -146.0 2405 3753 3444 3217 652.4 -10.6 267 2409 0.00 2.28 0.00 0.000 1030 0.000 0.097 2405 2494 3330 3444 3217 0 0 0 0 0 0 14.84 14.76 14.88

2707 -0.88 -146.0 2405 2494 3445 3217 683.2 -10.0 298 2713 0.00 2.45 0.00 0.000 260 0.000 0.155 2396 3754 3330 3444 3217 0 0 0 0 0 0 15.11 14.64 15.14

2737 -0.88 -146.0 2397 3754 3446 3217 686.4 -11.6 304 2743 0.00 2.28 0.00 0.000 1030 0.000 0.098 2396 2499 3330 3444 3217 0 0 0 0 0 0 14.81 14.76 14.88

3058 -0.88 -146.0 2397 2497 3445 3217 719.2 -10.3 325 3059 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2497 3330 3444 3216 0 0 0 0 0 0 15.07 15.10 15.09

3419 -0.88 -146.0 2396 2498 3444 3218 756.2 -10.3 337 3424 0.00 2.42 0.00 0.000 260 0.000 0.155 2387 3764 3328 3443 3214 0 0 0 0 0 0 15.09 14.68 15.11

3448 -0.88 -146.0 2388 3765 3444 3218 759.7 -10.9 343 3454 0.00 2.30 0.00 0.000 1030 0.000 0.098 2387 2496 3330 3443 3217 0 0 0 0 0 0 14.84 14.77 14.89

3839 -0.88 -146.0 2387 2496 3444 3218 801.1 -10.6 361 3846 0.00 2.40 0.00 0.000 260 0.000 0.155 2378 3752 3330 3443 3217 0 0 0 0 0 0 15.08 14.68 15.11

3870 -0.88 -146.0 2379 3751 3444 3217 804.4 -11.7 367 3876 0.12 2.28 0.00 0.000 3078 0.259 0.096 2412 2491 3330 3444 3217 0 0 0 0 0 0 14.54 14.77 14.72

4261 -0.88 -146.0 2413 2492 3444 3217 841.7 -9.4 385 4261 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 2491 3330 3443 3217 0 0 0 0 0 0 15.07 15.10 15.14

4621 -0.88 -146.0 2413 2491 3443 3217 874.9 -9.1 397 4622 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 2491 3330 3443 3217 0 0 0 0 0 0 15.08 15.11 15.11

4981 -0.88 -146.0 2413 2492 3443 3218 907.6 -9.1 409 4981 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2491 3330 3443 3217 0 0 0 0 0 0 15.09 15.11 15.11

5341 -0.88 -146.0 2413 2491 3444 3217 940.1 -9.0 421 5341 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2491 3330 3443 3217 0 0 0 0 0 0 15.09 15.11 15.11

5701 -0.88 -146.0 2413 2491 3444 3217 972.2 -8.9 433 5702 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2491 3329 3442 3217 0 0 0 0 0 0 15.09 15.12 15.11

5908 end dive: TARGET_DEPTH_EXCEEDED

state 5908 begin apogee

5912 -0.23 0.0 2413 2192 3443 3218 990.4 -8.7 440 6471 0.77 0.00 555.67 1.148 10246 0.226 0.000 2623 2190 2715 2772 2659 0 0 0 0 0 0 14.61 13.77 13.24

6473 end apogee: CONTROL_FINISHED_OK

state 6473 begin climb

6474 0.88 146.0 2625 2191 2770 2657 999.2 0.0 458 6972 1.20 3.03 481.23 1.257 11012 0.127 0.144 2981 3617 2112 2143 2082 0 0 0 0 0 0 13.73 13.58 13.00

7140 0.88 146.0 2981 3618 2133 2067 919.5 15.3 588 7147 0.00 2.70 0.00 0.000 1030 0.000 0.097 2991 2205 2099 2133 2066 0 0 0 0 0 0 14.21 14.14 14.25

7511 0.88 146.0 2991 2203 2131 2062 866.6 14.1 602 7519 0.00 2.67 0.00 0.000 516 0.000 0.128 3002 778 2095 2129 2062 0 0 0 0 0 0 14.83 14.52 14.85

7553 0.88 146.0 3002 779 2129 2064 860.7 14.3 610 7559 0.00 2.70 0.00 0.000 1030 0.000 0.115 3002 2212 2095 2128 2062 0 0 0 0 0 0 14.62 14.53 14.66

7934 0.88 146.0 3002 2212 2128 2061 805.7 14.6 626 7935 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2212 2094 2128 2061 0 0 0 0 0 0 14.95 14.97 14.97

8295 0.88 146.0 3003 2212 2128 2060 754.0 14.5 638 8300 0.00 2.65 0.00 0.000 516 0.000 0.126 3012 778 2093 2127 2060 0 0 0 0 0 0 15.01 14.71 15.04

8354 0.88 146.0 3013 778 2127 2061 745.2 14.7 650 8359 0.00 2.65 0.00 0.000 1030 0.000 0.115 3013 2202 2093 2127 2060 0 0 0 0 0 0 14.79 14.70 14.92

8724 0.88 146.0 3013 2203 2127 2060 689.8 15.0 670 8725 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2202 2092 2126 2059 0 0 0 0 0 0 15.07 15.11 15.10

9024 0.88 146.0 3013 2202 2128 2058 645.9 14.4 700 9032 0.00 2.67 0.00 0.000 516 0.000 0.126 3023 778 2092 2126 2058 0 0 0 0 0 0 15.09 14.72 15.11

9056 0.88 146.0 3024 779 2127 2059 641.3 14.9 706 9062 0.17 2.60 0.00 0.000 5126 0.242 0.114 2981 2207 2092 2126 2058 0 0 0 0 0 0 14.67 14.76 14.90

9366 0.88 146.0 2982 2204 2127 2058 602.2 12.3 738 9372 0.00 2.67 0.00 0.000 260 0.000 0.147 2982 3620 2092 2126 2058 0 0 0 0 0 0 15.10 14.72 15.13

9396 0.88 146.0 2986 3620 2127 2058 598.1 14.1 744 9403 0.00 2.62 0.00 0.000 1030 0.000 0.100 2991 2182 2092 2126 2058 0 0 0 0 0 0 14.85 14.76 14.97

9707 0.88 146.0 2992 2180 2127 2057 557.0 13.3 776 9714 0.00 2.60 0.00 0.000 516 0.000 0.129 3002 772 2092 2126 2058 0 0 0 0 0 0 15.11 14.73 15.13

9742 0.88 146.0 3002 773 2126 2058 552.2 13.6 783 9750 0.00 2.65 0.00 0.000 1030 0.000 0.114 3002 2202 2091 2125 2057 0 0 0 0 0 0 14.79 14.71 14.85

10048 0.88 146.0 3002 2201 2127 2057 511.3 13.2 814 10053 0.00 2.67 0.00 0.000 260 0.000 0.146 3002 3620 2091 2125 2058 0 0 0 0 0 0 15.11 14.70 15.14

10078 0.88 146.0 3002 3621 2125 2058 507.0 14.8 820 10085 0.00 2.60 0.00 0.000 1030 0.000 0.102 3012 2197 2091 2125 2057 0 0 0 0 0 0 14.82 14.72 14.85

10389 0.88 146.0 3013 2196 2126 2057 464.3 13.5 852 10395 0.00 2.62 0.00 0.000 516 0.000 0.129 3023 779 2091 2125 2057 0 0 0 0 0 0 15.09 14.72 15.11

10434 0.88 146.0 3024 779 2126 2057 458.1 13.7 861 10442 0.12 2.65 0.00 0.000 5126 0.223 0.116 2980 2205 2090 2124 2057 0 0 0 0 0 0 14.66 14.71 14.89

10739 0.88 146.0 2981 2206 2125 2057 421.3 12.3 892 10746 0.00 2.67 0.00 0.000 260 0.000 0.148 2981 3617 2090 2124 2057 0 0 0 0 0 0 15.11 14.71 15.14

10780 0.88 146.0 2981 3617 2125 2057 415.6 14.2 900 10787 0.00 2.62 0.00 0.000 1030 0.000 0.103 2989 2186 2090 2124 2057 0 0 0 0 0 0 14.95 14.75 14.97

10940 end climb: SURFACE_OBSTACLE_DETECTED

state 10940 begin subsurface finish

10944 0.00 1.5 2990 2202 2125 2056 396.0 12.2 917 10955 0.98 2.70 -2.10 0.054 20996 0.199 0.152 2714 782 2726 2841 2612 0 0 0 0 0 0 14.64 13.35 14.78

10955 end subsurface finish: CONTROL_FINISHED_OK

state 10956 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	164	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	23	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	10	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	20	PITCH_MIN	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	140218,181424,-7431.3477,-11231.7012,0,4134.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	397.46	MHEAD_RNG_PITCHd_Wd	309.6,37738,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	3.0	D_GRID	990
GPS2	140218,181424,-7431.3477,-11231.7012,0,4134.0,0,53.5,0.0,0.0,0,0.0

FINISH1	396.0,1.027471,1	_24V_AH	13.00,71.700
FINISH2	394.9	_10V_AH	12.46,0.000
RAFOS_CLK	395	FG_AHR_24Vo	0.000
RAFOS	0,1518642062,21.032778,21.017221,126,64,62,61,57,56,635,195,136,212,166,152	FG_AHR_10Vo	0.000
RAFOS_FIX	-7429.562500,-11232.689453,140218,212144,3,135,0.31	MEM	280052
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	30124,919
TT8_MAMPS	0.041944,0.223951	CAP_FILE_SIZE	115098,0
HUMID	48.26	CFSIZE	1024409600,1001046016
INTERNAL_PRESSURE	7.61906	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.80	INTR	0,2346.22,0x234cd8,0,24
XPDR_PINGS	0	SOUNDSPEED	1459.0
ALTIM_TOP_PING	397.2,8.2	GPS	140218,211544,-7429.562,-11232.689,0,4135.3,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	259	14.75	nil	0	0	0.00
Roll_motor	91	260	310.55	nil	0	0	0.00
VBD_pump_during_apogee	1036	1256	16942.57	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	10973	5	853.47
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	42	420	232.05	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8000	2	230.26
TT8_Active	1027	12	157.16
TT8_Sampling	1914	31	757.31
TT8_CF8	97	45	54.94
TT8_Kalman	0	0	0.00
Analog_circuits	1796	10	228.30
GPS_charging	0	0	0.00
Compass	1315	7	122.80
RAFOS	720	1	13.46
Transponder	304	30	113.89

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
404.4	12.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
410.8	18.80	9000.00	0.0	0.00	0.00	18.80	0.0	1.02	1.00
417.6	26.10	26.00	0.0	1.05	1.00	26.10	0.0	1.07	1.00
992.2	24.60	9000.00	0.0	0.00	0.11	24.60	1016.8	-0.00	1.00

985.9	30.50	9000.00	0.0	0.00	0.07	30.50	0.0	-0.94	1.00
979.7	16.30	9000.00	0.0	0.66	0.34	16.30	963.4	2.29	1.00
967.1	19.00	9000.00	0.0	0.49	0.39	19.00	0.0	-0.21	1.00
954.6	26.00	9000.00	0.0	-0.39	0.94	26.00	0.0	-0.56	1.00
948.3	19.80	9000.00	0.0	-0.11	0.08	19.80	928.5	0.98	1.00
502.7	141.20	9000.00	0.0	-0.26	1.00	141.20	0.0	-0.27	1.00
435.8	48.50	9000.00	0.0	-0.13	0.35	48.50	387.3	1.39	1.00
428.6	41.40	9000.00	0.0	1.36	1.00	41.40	387.2	0.99	1.00
416.3	29.20	29.20	387.1	0.99	1.00	29.20	387.1	0.99	1.00
410.2	22.50	22.60	387.6	1.02	1.00	22.50	387.7	1.10	1.00
403.2	14.60	14.60	388.6	1.12	1.00	14.60	388.6	1.13	1.00
397.2	8.30	8.20	389.0	1.09	1.00	8.30	388.9	1.05	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-0.88	-146.0	2702	2499	2837	2616	0.0	0.0	0	11	0.00	0.00	-1.90	0.049	16390	0.000	0.000	2701	2499	3334	3470	3198	0	0	0	0	0	0	15.07	13.38	15.06
13	-0.88	-146.0	2701	2500	3470	3196	0.0	0.0	0	19	0.88	2.53	0.00	0.000	4612	0.120	0.115	2416	1090	3332	3466	3199	0	0	0	0	0	0	14.76	14.73	14.84
48	-0.88	-146.0	2417	1089	3461	3205	400.2	-8.0	7	56	0.00	2.67	0.00	0.000	1030	0.000	0.126	2408	2502	3333	3460	3206	0	0	0	0	0	0	14.81	14.69	14.86
354	-0.88	-146.0	2408	2502	3453	3212	433.1	-11.0	38	359	0.00	2.42	0.00	0.000	260	0.000	0.155	2399	3751	3332	3452	3212	0	0	0	0	0	0	15.10	14.66	15.13
429	-0.88	-146.0	2399	3752	3450	3215	442.3	-12.1	53	436	0.00	2.28	0.00	0.000	1030	0.000	0.098	2398	2492	3331	3449	3214	0	0	0	0	0	0	14.85	14.77	14.89
733	-0.88	-146.0	2399	2493	3450	3215	477.1	-11.2	84	734	0.00	0.00	0.00	0.000	6	0.000	0.000	2399	2493	3332	3449	3215	0	0	0	0	0	0	15.09	15.14	15.11
1033	-0.88	-146.0	2399	2493	3450	3214	510.0	-10.9	114	1039	0.00	2.45	0.00	0.000	260	0.000	0.155	2389	3754	3331	3448	3214	0	0	0	0	0	0	15.09	14.65	15.11
1088	-0.88	-146.0	2389	3755	3446	3217	516.4	-11.2	125	1096	0.00	2.28	0.00	0.000	1030	0.000	0.099	2389	2499	3331	3446	3216	0	0	0	0	0	0	14.83	14.76	14.88
1393	-0.88	-146.0	2389	2499	3447	3216	551.2	-11.3	156	1401	0.00	2.45	0.00	0.000	260	0.000	0.158	2380	3753	3331	3445	3217	0	0	0	0	0	0	15.09	14.64	15.11
1440	-0.88	-146.0	2380	3753	3446	3216	556.8	-12.3	165	1448	0.12	2.28	0.00	0.000	3078	0.257	0.098	2414	2498	3333	3445	3221	0	0	0	0	0	0	14.55	14.76	14.72
1745	-0.88	-146.0	2414	2499	3446	3218	587.6	-10.1	196	1745	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2498	3331	3445	3217	0	0	0	0	0	0	15.10	15.13	15.12
2046	-0.88	-146.0	2413	2499	3445	3218	617.2	-9.7	226	2047	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	2498	3330	3444	3217	0	0	0	0	0	0	15.06	15.09	15.09
2345	-0.88	-146.0	2415	2498	3446	3217	646.4	-9.7	256	2353	0.00	2.42	0.00	0.000	260	0.000	0.157	2405	3753	3330	3444	3217	0	0	0	0	0	0	15.11	14.65	15.14
2402	-0.88	-146.0	2405	3753	3444	3217	652.4	-10.6	267	2409	0.00	2.28	0.00	0.000	1030	0.000	0.097	2405	2494	3330	3444	3217	0	0	0	0	0	0	14.84	14.76	14.88
2707	-0.88	-146.0	2405	2494	3445	3217	683.2	-10.0	298	2713	0.00	2.45	0.00	0.000	260	0.000	0.155	2396	3754	3330	3444	3217	0	0	0	0	0	0	15.11	14.64	15.14
2737	-0.88	-146.0	2397	3754	3446	3217	686.4	-11.6	304	2743	0.00	2.28	0.00	0.000	1030	0.000	0.098	2396	2499	3330	3444	3217	0	0	0	0	0	0	14.81	14.76	14.88
3058	-0.88	-146.0	2397	2497	3445	3217	719.2	-10.3	325	3059	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	2497	3330	3444	3216	0	0	0	0	0	0	15.07	15.10	15.09
3419	-0.88	-146.0	2396	2498	3444	3218	756.2	-10.3	337	3424	0.00	2.42	0.00	0.000	260	0.000	0.155	2387	3764	3328	3443	3214	0	0	0	0	0	0	15.09	14.68	15.11
3448	-0.88	-146.0	2388	3765	3444	3218	759.7	-10.9	343	3454	0.00	2.30	0.00	0.000	1030	0.000	0.098	2387	2496	3330	3443	3217	0	0	0	0	0	0	14.84	14.77	14.89
3839	-0.88	-146.0	2387	2496	3444	3218	801.1	-10.6	361	3846	0.00	2.40	0.00	0.000	260	0.000	0.155	2378	3752	3330	3443	3217	0	0	0	0	0	0	15.08	14.68	15.11
3870	-0.88	-146.0	2379	3751	3444	3217	804.4	-11.7	367	3876	0.12	2.28	0.00	0.000	3078	0.259	0.096	2412	2491	3330	3444	3217	0	0	0	0	0	0	14.54	14.77	14.72
4261	-0.88	-146.0	2413	2492	3444	3217	841.7	-9.4	385	4261	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	2491	3330	3443	3217	0	0	0	0	0	0	15.07	15.10	15.14
4621	-0.88	-146.0	2413	2491	3443	3217	874.9	-9.1	397	4622	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	2491	3330	3443	3217	0	0	0	0	0	0	15.08	15.11	15.11
4981	-0.88	-146.0	2413	2492	3443	3218	907.6	-9.1	409	4981	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2491	3330	3443	3217	0	0	0	0	0	0	15.09	15.11	15.11
5341	-0.88	-146.0	2413	2491	3444	3217	940.1	-9.0	421	5341	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2491	3330	3443	3217	0	0	0	0	0	0	15.09	15.11	15.11
5701	-0.88	-146.0	2413	2491	3444	3217	972.2	-8.9	433	5702	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2491	3329	3442	3217	0	0	0	0	0	0	15.09	15.12	15.11
5908	end dive: TARGET_DEPTH_EXCEEDED
state	5908	begin apogee
5912	-0.23	0.0	2413	2192	3443	3218	990.4	-8.7	440	6471	0.77	0.00	555.67	1.148	10246	0.226	0.000	2623	2190	2715	2772	2659	0	0	0	0	0	0	14.61	13.77	13.24
6473	end apogee: CONTROL_FINISHED_OK
state	6473	begin climb
6474	0.88	146.0	2625	2191	2770	2657	999.2	0.0	458	6972	1.20	3.03	481.23	1.257	11012	0.127	0.144	2981	3617	2112	2143	2082	0	0	0	0	0	0	13.73	13.58	13.00
7140	0.88	146.0	2981	3618	2133	2067	919.5	15.3	588	7147	0.00	2.70	0.00	0.000	1030	0.000	0.097	2991	2205	2099	2133	2066	0	0	0	0	0	0	14.21	14.14	14.25
7511	0.88	146.0	2991	2203	2131	2062	866.6	14.1	602	7519	0.00	2.67	0.00	0.000	516	0.000	0.128	3002	778	2095	2129	2062	0	0	0	0	0	0	14.83	14.52	14.85
7553	0.88	146.0	3002	779	2129	2064	860.7	14.3	610	7559	0.00	2.70	0.00	0.000	1030	0.000	0.115	3002	2212	2095	2128	2062	0	0	0	0	0	0	14.62	14.53	14.66
7934	0.88	146.0	3002	2212	2128	2061	805.7	14.6	626	7935	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	2212	2094	2128	2061	0	0	0	0	0	0	14.95	14.97	14.97
8295	0.88	146.0	3003	2212	2128	2060	754.0	14.5	638	8300	0.00	2.65	0.00	0.000	516	0.000	0.126	3012	778	2093	2127	2060	0	0	0	0	0	0	15.01	14.71	15.04
8354	0.88	146.0	3013	778	2127	2061	745.2	14.7	650	8359	0.00	2.65	0.00	0.000	1030	0.000	0.115	3013	2202	2093	2127	2060	0	0	0	0	0	0	14.79	14.70	14.92
8724	0.88	146.0	3013	2203	2127	2060	689.8	15.0	670	8725	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2202	2092	2126	2059	0	0	0	0	0	0	15.07	15.11	15.10
9024	0.88	146.0	3013	2202	2128	2058	645.9	14.4	700	9032	0.00	2.67	0.00	0.000	516	0.000	0.126	3023	778	2092	2126	2058	0	0	0	0	0	0	15.09	14.72	15.11
9056	0.88	146.0	3024	779	2127	2059	641.3	14.9	706	9062	0.17	2.60	0.00	0.000	5126	0.242	0.114	2981	2207	2092	2126	2058	0	0	0	0	0	0	14.67	14.76	14.90
9366	0.88	146.0	2982	2204	2127	2058	602.2	12.3	738	9372	0.00	2.67	0.00	0.000	260	0.000	0.147	2982	3620	2092	2126	2058	0	0	0	0	0	0	15.10	14.72	15.13
9396	0.88	146.0	2986	3620	2127	2058	598.1	14.1	744	9403	0.00	2.62	0.00	0.000	1030	0.000	0.100	2991	2182	2092	2126	2058	0	0	0	0	0	0	14.85	14.76	14.97
9707	0.88	146.0	2992	2180	2127	2057	557.0	13.3	776	9714	0.00	2.60	0.00	0.000	516	0.000	0.129	3002	772	2092	2126	2058	0	0	0	0	0	0	15.11	14.73	15.13
9742	0.88	146.0	3002	773	2126	2058	552.2	13.6	783	9750	0.00	2.65	0.00	0.000	1030	0.000	0.114	3002	2202	2091	2125	2057	0	0	0	0	0	0	14.79	14.71	14.85
10048	0.88	146.0	3002	2201	2127	2057	511.3	13.2	814	10053	0.00	2.67	0.00	0.000	260	0.000	0.146	3002	3620	2091	2125	2058	0	0	0	0	0	0	15.11	14.70	15.14
10078	0.88	146.0	3002	3621	2125	2058	507.0	14.8	820	10085	0.00	2.60	0.00	0.000	1030	0.000	0.102	3012	2197	2091	2125	2057	0	0	0	0	0	0	14.82	14.72	14.85
10389	0.88	146.0	3013	2196	2126	2057	464.3	13.5	852	10395	0.00	2.62	0.00	0.000	516	0.000	0.129	3023	779	2091	2125	2057	0	0	0	0	0	0	15.09	14.72	15.11
10434	0.88	146.0	3024	779	2126	2057	458.1	13.7	861	10442	0.12	2.65	0.00	0.000	5126	0.223	0.116	2980	2205	2090	2124	2057	0	0	0	0	0	0	14.66	14.71	14.89
10739	0.88	146.0	2981	2206	2125	2057	421.3	12.3	892	10746	0.00	2.67	0.00	0.000	260	0.000	0.148	2981	3617	2090	2124	2057	0	0	0	0	0	0	15.11	14.71	15.14
10780	0.88	146.0	2981	3617	2125	2057	415.6	14.2	900	10787	0.00	2.62	0.00	0.000	1030	0.000	0.103	2989	2186	2090	2124	2057	0	0	0	0	0	0	14.95	14.75	14.97
10940	end climb: SURFACE_OBSTACLE_DETECTED
state	10940	begin subsurface finish
10944	0.00	1.5	2990	2202	2125	2056	396.0	12.2	917	10955	0.98	2.70	-2.10	0.054	20996	0.199	0.152	2714	782	2726	2841	2612	0	0	0	0	0	0	14.64	13.35	14.78
10955	end subsurface finish: CONTROL_FINISHED_OK
state	10956	begin surface